000075597 001__ 75597
000075597 005__ 20190709135452.0
000075597 0247_ $$2doi$$a10.1016/j.automatica.2017.03.040
000075597 0248_ $$2sideral$$a98960
000075597 037__ $$aART-2017-98960
000075597 041__ $$aeng
000075597 100__ $$0(orcid)0000-0001-7853-3622$$aMosteo, A.R.
000075597 245__ $$aOptimal role and position assignment in multi-robot freely reachable formations
000075597 260__ $$c2017
000075597 5060_ $$aAccess copy available to the general public$$fUnrestricted
000075597 5203_ $$aMany multi-robot problems require the achievement of formations as part of the overall mission. This work considers a scenario in which unlabeled homogeneous robots must adopt a given formation pattern buildable anywhere in the environment. This involves finding the relative pose of the formation in regard to the initial robot positions, understood as a translation and a rotation; and the optimal assignment of the role of each robot within the formation. This paper provides an optimal solution for the combined parameters of translation, rotation and assignment that minimizes total displacement. To achieve this objective we first formally prove that the three decision variables are separable. Since computing the optimal assignment without accounting for the rotation is a computationally expensive problem, we propose an algorithm that efficiently computes the optimal roles together with the rotation. The algorithm is provably correct and finds the optimal solution in finite time. A distributed implementation is also discussed. Simulation results characterize the complexity of our solution and demonstrate its effectiveness.
000075597 536__ $$9info:eu-repo/grantAgreement/ES/MINECO/DPI2016-76676-R$$9info:eu-repo/grantAgreement/ES/UZ/CUD2016-17
000075597 540__ $$9info:eu-repo/semantics/openAccess$$aby-nc-nd$$uhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
000075597 590__ $$a6.126$$b2017
000075597 591__ $$aENGINEERING, ELECTRICAL & ELECTRONIC$$b17 / 260 = 0.065$$c2017$$dQ1$$eT1
000075597 591__ $$aAUTOMATION & CONTROL SYSTEMS$$b3 / 61 = 0.049$$c2017$$dQ1$$eT1
000075597 592__ $$a3.896$$b2017
000075597 593__ $$aElectrical and Electronic Engineering$$c2017$$dQ1
000075597 593__ $$aControl and Systems Engineering$$c2017$$dQ1
000075597 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000075597 700__ $$0(orcid)0000-0002-5176-3767$$aMontijano, E.$$uUniversidad de Zaragoza
000075597 700__ $$0(orcid)0000-0002-7600-0002$$aTardioli, D.
000075597 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000075597 773__ $$g81 (2017), 305-313$$pAutomatica$$tAUTOMATICA$$x0005-1098
000075597 8564_ $$s607311$$uhttps://zaguan.unizar.es/record/75597/files/texto_completo.pdf$$yPostprint
000075597 8564_ $$s101233$$uhttps://zaguan.unizar.es/record/75597/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000075597 909CO $$ooai:zaguan.unizar.es:75597$$particulos$$pdriver
000075597 951__ $$a2019-07-09-11:41:35
000075597 980__ $$aARTICLE